CN109822590A - A kind of robot eyes telecontrol equipment and control method - Google Patents
A kind of robot eyes telecontrol equipment and control method Download PDFInfo
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- CN109822590A CN109822590A CN201910206712.1A CN201910206712A CN109822590A CN 109822590 A CN109822590 A CN 109822590A CN 201910206712 A CN201910206712 A CN 201910206712A CN 109822590 A CN109822590 A CN 109822590A
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Abstract
A kind of robot eyes telecontrol equipment, including fixed frame, left-right rotation mechanism, rotate upwardly and downwardly mechanism, eyeball mechanism and 2 eyebrow units, the eyeball mechanism is installed on fixed frame, 2 eyebrow units are in that mirror image is installed on robot face mutually, the both ends of each eyebrow unit are connect with 2 groups of eyebrow steering engine mechanisms respectively, eyebrow steering engine mechanism described in 2 groups is mounted on fixed frame, one end of the left-right rotation mechanism is connect with eyeball mechanism, the other end of the left-right rotation mechanism is installed on fixed frame, described one end for rotating upwardly and downwardly mechanism is connect with eyeball mechanism, the other end for rotating upwardly and downwardly mechanism is installed on fixed frame；The both ends movement that an eyebrow is respectively driven by 2 eyebrow steering engines, enables eyebrow to make more movement, to imitate out the more rich eyebrow variation of human face, therefore the human expressions imitated out are more vivid.
Description
Technical field
The present invention relates to mechanical movement fields, and in particular to a kind of robot eyes telecontrol equipment and control method.
Background technique
With the continuous development of intelligence science, automation science, intelligent humanoid robot is widely used in life,
It in order to keep humanoid robot more life-like, can preferably be interacted with true man, develop many machines for imitating mankind's eye motion
Device human eye part device, but the performance of current robot eyes movement is mainly based upon imitation of the display screen to expression, it is rare
The robot eye part device that mankind's eye includes eyebrow movement can physically be imitated.
Summary of the invention
The purpose of the invention is to overcome above the shortcomings of the prior art, a kind of robot eyes movement is provided
Device, the configuration of the present invention is simple are imitated true to nature；
The present invention also provides a kind of control methods of robot eyes telecontrol equipment simultaneously.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of robot eyes telecontrol equipment, including fixed frame, left-right rotation mechanism, rotate upwardly and downwardly mechanism, eyeball machine
Structure and 2 eyebrow units, the eyeball mechanism are installed on fixed frame, and 2 eyebrow units are in that mirror image is installed on machine mutually
Device human face, the both ends of each eyebrow unit are connect with 2 groups of eyebrow steering engine mechanisms respectively, eyebrow steering engine mechanism described in 2 groups
Be mounted on fixed frame, one end of the left-right rotation mechanism is connect with eyeball mechanism, the left-right rotation mechanism it is another
End is installed on fixed frame, and described one end for rotating upwardly and downwardly mechanism is connect with eyeball mechanism, described to rotate upwardly and downwardly the another of mechanism
End is installed on fixed frame；By 2 eyebrow steering engines respectively drive an eyebrow both ends movement, enable eyebrow make compared with
More movement, to imitate out the more rich eyebrow variation of human face, therefore the human expressions imitated out are more vivid.
Preferably, eyebrow steering engine mechanism includes eyebrow steering engine, eyebrow steering engine arm and connecting rod, and the eyebrow steering engine moves
Power output shaft is connect with one end of eyebrow steering engine arm, and the other end of the eyebrow steering engine arm and one end of connecting rod connect, the company
The other end of bar is connect with one end of the eyebrow unit；Eyebrow steering engine arm swing, eyebrow are respectively driven by 2 eyebrow steering engines
Steering engine arm drive link, control eyebrow both ends rise or fall, to complete the control to robot eyebrow unit.
Preferably, the eyebrow unit includes eyebrow bracket and eyebrow, and the eyebrow passes through eyebrow bracket and eyeball mechanism
Connection, the both ends of the eyebrow are connect with 2 eyebrow steering engine mechanisms respectively.
Preferably, first sleeve and second sleeve are fixed on the eyebrow bracket, the first connecting rod passes through first set
Hinged with one end of eyebrow after cylinder, the second connecting rod is hinged with the other end of eyebrow after second sleeve, passes through sleeve pair
First connecting rod and second connecting rod are supported and guide, keeps the movement of robot eyebrow part more natural.
Preferably, the eyeball mechanism includes the first eyeball, the second eyeball and 2 eyeball frames, 2 eyeball frames
It is fixed on fixed frame, first eyeball and the second eyeball are respectively arranged in 2 eyeball frames, and first eyeball rear end is logical
It is hinged with fixed frame to cross the first universal coupling, second eyeball rear end is hinged by the second universal coupling and fixed frame,
The freedom degree of universal coupling is big, and eyeball can be assisted to complete various movements.
Preferably, the left-right rotation mechanism include the first steering engine, the first steering engine arm, lateral short connecting rod, lateral long connecting rod,
First tranverse connecting rod and the second tranverse connecting rod, first steering engine are installed on fixed frame, the power output shaft of first steering engine with
One end of first steering engine arm connects, and the other end of the first steering engine arm is connect with one end of lateral short connecting rod, and the transverse direction is short
The other end of connecting rod is connect with one end of the first tranverse connecting rod, and the other end of first tranverse connecting rod is connect with the first eyeball, described
One end of lateral long connecting rod is connect with the middle part of the first tranverse connecting rod, it is described transverse direction long connecting rod the other end and the second tranverse connecting rod one
End connection, the other end of second tranverse connecting rod are connect with the second eyeball.It is put by first servo driving the first steering engine arm or so
Dynamic, the first steering engine arm drives the first tranverse connecting rod to move left and right by lateral short connecting rod, to drive the first eyeball around the 10000th
To hinge left-right rotation, the first tranverse connecting rod drives the second tranverse connecting rod to move left and right by lateral long connecting rod, to drive second
Ball completes the control to robot eyes left-right rotation around the second universal coupling left-right rotation.
Preferably, the mechanism that rotates upwardly and downwardly includes the second steering engine, the second steering engine arm, vertical link, transverse link, first
Vertical connecting rod and the second vertical connecting rod, second steering engine are installed on fixed frame, the power output shaft and second of second steering engine
One end of steering engine arm connects, and the other end of the second steering engine arm and one end of vertical link connect, the vertical link it is another
One end is connect with one end of the second vertical connecting rod, and the other end of second vertical connecting rod is connect with the second eyeball, the transverse link
One end and the second vertical connecting rod in the middle part of connect, the other end of the transverse link is connect with one end of the first vertical connecting rod, described the
The other end of one vertical connecting rod is connect with the first eyeball.It is swung up and down by second servo driving the second steering engine arm, the second steering engine arm
The second vertical connecting rod is driven to move up and down by vertical link, so that the second eyeball is driven to rotate upwardly and downwardly around the second universal coupling,
Second vertical connecting rod drives the first vertical connecting rod to move up and down by transverse link, to drive the first eyeball around the first universal coupling
It rotates upwardly and downwardly, completes the control rotated upwardly and downwardly to robot eyes.
Preferably, 2 eyeball frames are mounted on eyelid unit, and the eyelid unit includes upper eyelid and lower eye
Eyelid, the upper eyelid are connect by eyelid transmission mechanism with fixed frame.The upper eyelid can rotate in eyeball frame.
Preferably, the eyelid transmission mechanism includes eyelid steering engine, eyelid tranverse connecting rod, eyelid vertical connecting rod and eyelid steering engine
Arm, the eyelid steering engine are installed on fixed bracket, and the power output shaft of the eyelid steering engine is connect with one end of eyelid steering engine arm,
The other end of the eyelid steering engine arm is connect with one end of eyelid tranverse connecting rod, and the other end and eyelid of the eyelid tranverse connecting rod are perpendicular to be connected
One end of bar connects, and the other end of the eyelid vertical connecting rod is connect with upper eyelid.By on eyelid servo driving eyelid steering engine arm
Lower swing, eyelid steering engine arm drives the rotation of eyelid vertical connecting rod lower end by eyelid tranverse connecting rod, to drive upper eyelid in eyeball frame
Rotation in frame makes eye opening, eye closing and blink movement, completes the control to robot eyelid.
A kind of control method of robot eyes movement, comprising the following steps:
Eyebrow steering engine arm swing is respectively driven by 2 eyebrow steering engines, eyebrow steering engine arm drive link controls eyebrow both ends
Rise or fall, to complete control to robot eyebrow unit；
It is swung by first servo driving the first steering engine arm, so that the first steering engine arm is passed through lateral short connecting rod and drive first
Tranverse connecting rod moves left and right, to drive the first eyeball around the first universal coupling left-right rotation, the first tranverse connecting rod passes through laterally long
Connecting rod drives the second tranverse connecting rod to move left and right, to drive the second eyeball around the second universal coupling left-right rotation, to complete
Control to robot eyes left-right rotation；
It is swung up and down by second servo driving the second steering engine arm, the second steering engine arm drives the second perpendicular company by vertical link
Bar moves up and down, so that the second eyeball be driven to rotate upwardly and downwardly around the second universal coupling, the second vertical connecting rod passes through transverse link band
Dynamic first vertical connecting rod moves up and down, so that the first eyeball be driven to rotate upwardly and downwardly around the first universal coupling, completes to robot eye
The control that portion rotates upwardly and downwardly；
It is swung up and down by eyelid servo driving eyelid steering engine arm, eyelid steering engine arm drives eyelid perpendicular by eyelid tranverse connecting rod
The rotation of connecting rod lower end is made eye opening, eye closing and blink movement, is completed to machine so that upper eyelid be driven to rotate in eyeball frame
The control of device human eye eyelid.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1, the present invention by 2 eyebrow steering engines respectively drive an eyebrow both ends movement, enable eyebrow make compared with
More movement, to imitate out the more rich eyebrow variation of human face, therefore the human expressions imitated out are more vivid.
2, the present invention makes the eyeball for imitating out the mankind by rotating upwardly and downwardly mechanism and left-right rotation mechanism while driving eyeball
It rotates more lively.
3, the present invention is by servo driving, simplified control program, and overall plan is efficiently feasible.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of robot eyes telecontrol equipment of the invention；
Fig. 2 is the structural schematic diagram of left-right rotation mechanism of the present invention；
Fig. 3 is the structural schematic diagram that the present invention rotates upwardly and downwardly mechanism；
Fig. 4 is the structural schematic diagram of eyebrow bracket of the present invention；
Wherein, 1 is eyebrow unit, and 2 be eyebrow, and 3 be the first eyebrow steering engine, and 4 be first connecting rod, and 5 be fixed frame, and 6 are
Eyelid steering engine, 7 be eyelid tranverse connecting rod, and 8 be eyelid vertical connecting rod, and 9 be upper eyelid, and 10 be the second eyeball, and 11 be palpebra inferior, and 12 be the
One eyeball, 13 be the first steering engine, and 14 be the first steering engine arm, and 15 be lateral short connecting rod, and 16 be the first tranverse connecting rod, and 17 is universal for first
Hinge, 18 be transverse direction long connecting rod, and 19 be the second tranverse connecting rod, and 20 be the first vertical connecting rod, and 21 be transverse link, and 22 be the second perpendicular company
Bar, 23 be vertical link, and 24 be the second steering engine arm, and 25 be the second steering engine, and 26 be first sleeve.27 be the second eyebrow steering engine, 28
For eyebrow bracket, 29 be eyeball frame, and 30 be the first eyebrow steering engine arm, and 31 be the second eyebrow steering engine arm, and 32 be second connecting rod, 33
It is eyelid steering engine arm for second sleeve, 34.
Specific embodiment
Present invention will now be described in further detail with reference to the embodiments and the accompanying drawings, but embodiments of the present invention are unlimited
In this.
As shown in Figure 1, Figure 2, Figure 3 shows, a kind of robot eyes telecontrol equipment, including fixed frame 5, left-right rotation mechanism,
Mechanism, eyeball mechanism and 2 eyebrow units 1 are rotated upwardly and downwardly, the eyeball mechanism is installed on 5 front end of fixed frame, 2 eyebrows
Hair unit 1, which mutually mirrors, is installed on the top of eyeball frame 29, the both ends of each eyebrow unit 1 respectively with 2 groups of eyebrow steering engines
Mechanism connection, 2 eyebrow steering engine mechanisms are mounted on 5 upper end of fixed frame, one end of the left-right rotation mechanism and eye
The connection of ball machine structure, the other end of the left-right rotation mechanism are installed on fixed frame 5, described one end for rotating upwardly and downwardly mechanism and eye
The connection of ball machine structure, the other end for rotating upwardly and downwardly mechanism are installed on fixed frame 5；One is respectively driven by 2 eyebrow steering engines
The both ends movement of eyebrow 2, enables eyebrow 2 to make more movement, to imitate out the more rich eyebrow of human face
Variation, therefore the human expressions imitated out are more vivid.
2 eyebrow steering engines are respectively the first eyebrow steering engine mechanism and the second eyebrow steering engine mechanism, first eyebrow
Steering engine mechanism includes the first eyebrow steering engine 3, the first eyebrow steering engine arm 30 and first connecting rod 4, the second eyebrow steering engine mechanism packet
Include the second eyebrow steering engine 27, the second eyebrow steering engine arm 31 and second connecting rod 32, the power output shaft of the first eyebrow steering engine 3 with
One end of first eyebrow steering engine arm 30 connects, and the other end of the first eyebrow steering engine arm 30 is connect with one end of first connecting rod 4,
The other end of the first connecting rod 4 is hinged by one end of universal spherical joint and eyebrow 2, and the power of the second eyebrow steering engine 27 is defeated
Shaft is connect with one end of the second eyebrow steering engine arm 31, the other end of the second eyebrow steering engine arm 31 and the one of second connecting rod 32
The other end of end connection, the second connecting rod 32 is hinged by the other end of universal spherical joint and eyebrow 2.First eyebrow steering engine 3 drives
Dynamic first eyebrow steering engine arm 30 is swung, then drives first connecting rod 4 by the first eyebrow steering engine arm 30, controls the upper of 2 one end of eyebrow
It rises or declines, then drive the second eyebrow steering engine arm 31 to swing by the second eyebrow steering engine 27, then pass through the second eyebrow steering engine arm 31
Second connecting rod 32 is driven, control 2 other end of eyebrow rises or falls, to complete the control to robot eyebrow unit 1.
The second eyebrow steering engine 27 is installed on 3 machine front end of the first eyebrow rudder, the first eyebrow steering engine arm 30 to the second
Eyebrow steering engine arm 31 is long, makes to be distributed before and after the first eyebrow steering engine 3 and the second eyebrow steering engine 27, can save space, be product more
Step up to gather.
The eyebrow unit 1 includes eyebrow bracket 28 and eyebrow 2, and the eyebrow 2 passes through eyebrow bracket 28 and eyeball frame
29 connections, the both ends of the eyebrow 2 are connect with first connecting rod 4 and second connecting rod 32 respectively.
2 eyebrow steering engines are respectively the first eyebrow steering engine 3 and the second eyebrow steering engine 27, the eyebrow connecting rod machine
Structure includes the first eyebrow steering engine arm 30, first connecting rod 4, the second eyebrow steering engine arm 31 and second connecting rod 32, the first eyebrow rudder
The power output shaft of machine 3 is connect with one end of the first eyebrow steering engine arm 30, the other end of the first eyebrow steering engine arm 30 and
One end of one connecting rod 4 connects, and the other end of the first connecting rod 4 is hinged by one end of universal spherical joint and eyebrow 2, and described second
The power output shaft of eyebrow steering engine 27 is connect with one end of the second eyebrow steering engine arm 31, the second eyebrow steering engine arm 31 it is another
End is connect with one end of second connecting rod 32, and the other end of the second connecting rod 32 is cut with scissors by the other end of universal spherical joint and eyebrow 2
It connects.First eyebrow steering engine 3 drives the first eyebrow steering engine arm 30 to swing, then drives first connecting rod 4 by the first eyebrow steering engine arm 30,
Control 2 one end of eyebrow rises or falls, then drives the second eyebrow steering engine arm 31 to swing by the second eyebrow steering engine 27, then pass through
Second eyebrow steering engine arm 31 drives second connecting rod 32, and control 2 other end of eyebrow rises or falls, to complete to robot eyebrow
The control of hair unit 1.
As shown in figure 4, first sleeve 26 and second sleeve 33 are fixed on the eyebrow bracket 28, the first connecting rod 4
Hinged with one end of eyebrow 2 after first sleeve 26, the second connecting rod 32 is another with eyebrow 2 after second sleeve 33
End is hinged, by the way that sleeve is to first connecting rod 4 and second connecting rod 32 is supported and guide, makes the movement of robot eyebrow part more
Add nature.
The eyeball mechanism includes 29,2 the first eyeball 12, the second eyeball 10 and 2 eyeball frame eyeball frames
29 are fixed on 5 front end of fixed frame, and first eyeball 12 and the second eyeball 10 are respectively arranged in 2 eyeball frames 29, institute
It is hinged with fixed frame 5 by the first universal coupling 17 to state 12 rear end of the first eyeball, 12 rear end of the second eyeball passes through second
Universal coupling and fixed frame 5 are hinged.The freedom degree of universal coupling is big, and eyeball can be assisted to complete various movements.
The left-right rotation mechanism includes the first steering engine 13, the first steering engine arm 14, lateral short connecting rod 15, lateral long connecting rod
18, the first tranverse connecting rod 16 and the second tranverse connecting rod 19, first steering engine 13 are installed on fixed frame 5, first steering engine 13
Power output shaft is connect with one end of the first steering engine arm 14, and the one of the other end of the first steering engine arm 14 and lateral short connecting rod 15
End connection, it is described transverse direction short connecting rod 15 the other end connect with one end of the first tranverse connecting rod 16, first tranverse connecting rod 16 it is another
One end is connect with the first eyeball 12, and one end of the transverse direction long connecting rod 18 is connect with the middle part of the first tranverse connecting rod 16, the transverse direction
The other end of long connecting rod 18 is connect with one end of the second tranverse connecting rod 19, the other end of second tranverse connecting rod 19 and the second eyeball 10
Connection.The first steering engine arm 14 is driven to swing by the first steering engine 13, the first steering engine arm 14 passes through lateral short connecting rod 15 and drives
First tranverse connecting rod 16 moves left and right, to drive the first eyeball 12 around 17 left-right rotation of the first universal coupling, the first tranverse connecting rod
16 drive the second tranverse connecting rod 19 to move left and right by lateral long connecting rod 18, to drive the second eyeball 10 around the second universal coupling
Left-right rotation completes the control to robot eyes left-right rotation.
The mechanism that rotates upwardly and downwardly includes the second steering engine 25, the second steering engine arm 24, vertical link 23, transverse link 21, the
One vertical connecting rod 20 and the second vertical connecting rod 22, second steering engine 25 are installed on fixed frame 5, and the power of second steering engine 25 is defeated
Shaft is connect with one end of the second steering engine arm 24, and the other end of the second steering engine arm 24 is connect with one end of vertical link 23,
The other end of the vertical link 23 is connect with one end of the second vertical connecting rod 22, the other end and second of second vertical connecting rod 22
Eyeball 10 connects, and connects in the middle part of one end of the transverse link 21 and the second vertical connecting rod 22, the other end of the transverse link 21
It is connect with one end of the first vertical connecting rod 20, the other end of first vertical connecting rod 20 is connect with the first eyeball 12.Pass through the second rudder
Machine 25 drives the second steering engine arm 24 to swing up and down, and the second steering engine arm 24 is driven by vertical link 23 and moved down on second vertical connecting rod 22
Dynamic, so that the second eyeball 10 be driven to rotate upwardly and downwardly around the second universal coupling, the second vertical connecting rod 22 is driven by transverse link 21
First vertical connecting rod 20 moves up and down, so that the first eyeball 12 be driven to rotate upwardly and downwardly around the first universal coupling 17, completes to machine
The control that human eye portion rotates upwardly and downwardly.
2 eyeball frames are mounted on eyelid unit, and the eyelid unit includes upper eyelid 9 and palpebra inferior 11, institute
Upper eyelid 9 is stated to connect by eyelid transmission mechanism with fixed frame 5.The upper eyelid 9 can rotate in eyeball frame 29.
The eyelid transmission mechanism includes eyelid steering engine 6, eyelid tranverse connecting rod 7, eyelid vertical connecting rod 8 and eyelid steering engine arm 34,
The eyelid steering engine 6 is installed on fixed bracket 5, and the power output shaft of the eyelid steering engine 6 and one end of eyelid steering engine arm 34 connect
Connect, the other end of the eyelid steering engine arm 34 is connect with one end of eyelid tranverse connecting rod 7, the other end of the eyelid tranverse connecting rod 7 with
One end of eyelid vertical connecting rod 8 connects, and the other end of the eyelid vertical connecting rod 8 is connect with upper eyelid 9.It is driven by eyelid steering engine 6
Eyelid steering engine arm 34 is swung up and down, and eyelid steering engine arm 34 drives the rotation of 8 lower end of eyelid vertical connecting rod by eyelid tranverse connecting rod 7, thus
It drives upper eyelid 9 to rotate in eyeball frame 29, makes eye opening, eye closing and blink movement, complete the control to robot eyelid.
A kind of control method of robot eyes movement, comprising the following steps:
First eyebrow steering engine 3 drives the first eyebrow steering engine arm 30 to swing, then passes through the first eyebrow steering engine arm 30 driving first
Connecting rod 4, control 2 one end of eyebrow rise or fall, then drive the second eyebrow steering engine arm 31 to swing by the second eyebrow steering engine 27,
Second connecting rod 32 is driven by the second eyebrow steering engine arm 31 again, control 2 other end of eyebrow rises or falls, to complete to machine
The control of device people's eyebrow unit 1；
The first steering engine arm 14 is driven to swing by the first steering engine 13, the first steering engine arm 14 passes through 15 band of lateral short connecting rod
Dynamic first tranverse connecting rod 16 moves left and right, to drive the first eyeball 12 around 17 left-right rotation of the first universal coupling, the first horizontal company
Bar 16 passes through lateral long connecting rod 18 and the second tranverse connecting rod 19 is driven to move left and right, to drive the second eyeball 10 around the second universal hinge
Chain left-right rotation completes the control to robot eyes left-right rotation；
The second steering engine arm 24 is driven to swing up and down by the second steering engine 25, the second steering engine arm 24 is driven by vertical link 23
Second vertical connecting rod 22 moves up and down, so that the second eyeball 10 is driven to rotate upwardly and downwardly around the second universal coupling, the second vertical connecting rod 22
The first vertical connecting rod 20 is driven to move up and down by transverse link 21, to drive the first eyeball 12 on the first universal coupling 17
The control rotated upwardly and downwardly to robot eyes is completed in lower rotation；
Eyelid steering engine arm 34 is driven to swing up and down by eyelid steering engine 6, eyelid steering engine arm 34 is driven by eyelid tranverse connecting rod 7
It is dynamic to make eye opening, eye closing and blink so that upper eyelid 9 be driven to rotate in eyeball frame 29 for the rotation of 8 lower end of eyelid vertical connecting rod
Make, completes the control to robot eyelid.
Above-mentioned specific embodiment is the preferred embodiment of the present invention, can not be limited the invention, and others are appointed
The change or other equivalent substitute modes what is made without departing from technical solution of the present invention, are included in protection of the invention
Within the scope of.
Claims (10)
1. a kind of robot eyes telecontrol equipment, which is characterized in that including fixed frame, left-right rotation mechanism, rotate upwardly and downwardly machine
Structure, eyeball mechanism and 2 eyebrow units, the eyeball mechanism are installed on fixed frame, and 2 eyebrow units are in mirror image mutually
It is installed on robot face, the both ends of each eyebrow unit are connect with 2 groups of eyebrow steering engine mechanisms respectively, eyebrow described in 2 groups
Steering engine mechanism is mounted on fixed frame, and one end of the left-right rotation mechanism is connect with eyeball mechanism, the left/right rotation motivation
The other end of structure is installed on fixed frame, and described one end for rotating upwardly and downwardly mechanism is connect with eyeball mechanism, described to rotate upwardly and downwardly machine
The other end of structure is installed on fixed frame.
2. a kind of robot eyes telecontrol equipment according to claim 2, which is characterized in that eyebrow steering engine mechanism packet
Eyebrow steering engine, eyebrow steering engine arm and connecting rod are included, the power output shaft of the eyebrow steering engine is connect with one end of eyebrow steering engine arm, institute
One end of the other end and connecting rod of stating eyebrow steering engine arm connects, and one end of the other end of the connecting rod and the eyebrow unit connects
It connects.
3. a kind of robot eyes telecontrol equipment according to claim 1, which is characterized in that the eyebrow unit includes eyebrow
Hair bracket and eyebrow, the eyebrow are connect by eyebrow bracket with eyeball mechanism, the both ends of the eyebrow respectively with 2 eyebrows
The connection of hair steering engine mechanism.
4. a kind of robot eyes telecontrol equipment according to claim 3, which is characterized in that fixed on the eyebrow bracket
2 sleeves, 2 eyebrow steering engine mechanisms are connect after being each passed through 2 sleeves with the both ends of the eyebrow.
5. a kind of robot eyes telecontrol equipment according to claim 1, which is characterized in that the eyeball mechanism includes the
One eyeball, the second eyeball and 2 eyeball frames, 2 eyeball frames are fixed on fixed frame, first eyeball and second
Eyeball is respectively arranged in 2 eyeball frames, and first eyeball rear end is hinged by the first universal coupling and fixed frame, described
Second eyeball rear end is hinged by the second universal coupling and fixed frame.
6. a kind of robot eyes telecontrol equipment according to claim 5, which is characterized in that left-right rotation mechanism packet
Include the first steering engine, the first steering engine arm, lateral short connecting rod, lateral long connecting rod, the first tranverse connecting rod and the second tranverse connecting rod, first rudder
Machine is installed on fixed frame, and the power output shaft of first steering engine is connect with one end of the first steering engine arm, first steering engine
The other end of arm is connect with one end of lateral short connecting rod, and the other end of the transverse direction short connecting rod and one end of the first tranverse connecting rod connect
It connects, the other end of first tranverse connecting rod is connect with the first eyeball, in one end and the first tranverse connecting rod of the transverse direction long connecting rod
Portion connection, it is described transverse direction long connecting rod the other end connect with one end of the second tranverse connecting rod, the other end of second tranverse connecting rod and
The connection of second eyeball.
7. a kind of robot eyes telecontrol equipment according to claim 5, which is characterized in that described to rotate upwardly and downwardly mechanism packet
Include the second steering engine, the second steering engine arm, vertical link, transverse link, the first vertical connecting rod and the second vertical connecting rod, the second steering engine peace
Loaded on fixed frame, the power output shaft of second steering engine is connect with one end of the second steering engine arm, the second steering engine arm
The connection of one end of the other end and vertical link, the other end of the vertical link connect with one end of the second vertical connecting rod, and described the
The other end of two vertical connecting rods is connect with the second eyeball, is connect in the middle part of one end of the transverse link and the second vertical connecting rod, the cross
It is connect to the other end of connecting rod with one end of the first vertical connecting rod, the other end of first vertical connecting rod is connect with the first eyeball.
8. a kind of robot eyes telecontrol equipment according to claim 5, which is characterized in that 2 eyeball frames are equal
Eyelid unit is installed, the eyelid unit includes upper eyelid and palpebra inferior, and the upper eyelid is by eyelid transmission mechanism and admittedly
Determine frame connection.
9. a kind of robot eyes telecontrol equipment according to claim 8, which is characterized in that the eyelid transmission mechanism packet
Eyelid steering engine, eyelid tranverse connecting rod, eyelid vertical connecting rod and eyelid steering engine arm are included, the eyelid steering engine is installed on fixed bracket, described
The power output shaft of eyelid steering engine is connect with one end of eyelid steering engine arm, the other end and eyelid tranverse connecting rod of the eyelid steering engine arm
One end connection, the other end of the eyelid tranverse connecting rod connect with one end of eyelid vertical connecting rod, the eyelid vertical connecting rod it is another
End is connect with upper eyelid.
10. the control method based on a kind of robot eyes telecontrol equipment described in claim 1~9, which is characterized in that including
Following steps:
Eyebrow steering engine arm swing is respectively driven by 2 eyebrow steering engines, eyebrow steering engine arm drive link controls the upper of eyebrow both ends
It rises or declines, to complete the control to robot eyebrow unit；
It is swung by first servo driving the first steering engine arm, so that the first steering engine arm is passed through lateral short connecting rod and drive the first horizontal company
Bar moves left and right, to drive the first eyeball around the first universal coupling left-right rotation, the first tranverse connecting rod passes through lateral long connecting rod
The second tranverse connecting rod is driven to move left and right, to drive the second eyeball around the second universal coupling left-right rotation, to complete to machine
The control of device human eye portion left-right rotation；
It is swung up and down by second servo driving the second steering engine arm, the second steering engine arm is driven on the second vertical connecting rod by vertical link
Lower movement, so that the second eyeball be driven to rotate upwardly and downwardly around the second universal coupling, the second vertical connecting rod passes through transverse link drive the
One vertical connecting rod moves up and down, so that the first eyeball be driven to rotate upwardly and downwardly around the first universal coupling, completes on robot eyes
The control of lower rotation；
It is swung up and down by eyelid servo driving eyelid steering engine arm, eyelid steering engine arm drives eyelid vertical connecting rod by eyelid tranverse connecting rod
Lower end rotation is made eye opening, eye closing and blink movement, is completed to robot so that upper eyelid be driven to rotate in eyeball frame
The control of eyelid.
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| CN201910206712.1A CN109822590B (en) | 2019-03-19 | 2019-03-19 | Robot eye movement device and control method |
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| CN201910206712.1A CN109822590B (en) | 2019-03-19 | 2019-03-19 | Robot eye movement device and control method |
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| CN111421558A (en) * | 2020-03-19 | 2020-07-17 | 浙江工业大学 | Robot with anthropomorphic expression based on electroactive polymer driver |
| CN111513907A (en) * | 2020-04-30 | 2020-08-11 | 李卿 | Automatic splint for orthopedics department |
| CN111531553A (en) * | 2020-04-01 | 2020-08-14 | 哈尔滨工业大学 | Humanoid robot head based on connecting rod smooth expression control mechanism |
| CN112171683A (en) * | 2020-09-03 | 2021-01-05 | 广东工业大学 | Bionic eye eyebrow device for bionic robot |
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